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<div class="header">
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<div class="title">BezierCurve.h</div>  </div>
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<div class="contents">
<a href="../../d7/d66/_bezier_curve_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef BEZIER_CURVE</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define BEZIER_CURVE</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// N = NUM_CTR_PT -1</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> DIM, <span class="keywordtype">int</span> NUM_CTR_PT&gt;</div><div class="line"><a name="l00008"></a><span class="lineno"><a class="line" href="../../df/da0/class_bezier_curve.html">    8</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../df/da0/class_bezier_curve.html">BezierCurve</a> {</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="../../df/da0/class_bezier_curve.html#a724f444a65d87f2b4a475c44a2eedf02">   10</a></span>&#160;  T <a class="code" href="../../df/da0/class_bezier_curve.html#a724f444a65d87f2b4a475c44a2eedf02">_CtrlPt</a>[NUM_CTR_PT][DIM];</div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="../../df/da0/class_bezier_curve.html#adeb66b287ab1251b35c4836a73024e50">   11</a></span>&#160;  T <a class="code" href="../../df/da0/class_bezier_curve.html#adeb66b287ab1251b35c4836a73024e50">_coeff</a>[NUM_CTR_PT];</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="../../df/da0/class_bezier_curve.html#af260806a5be9aff91007286940fc951d">   12</a></span>&#160;  T <a class="code" href="../../df/da0/class_bezier_curve.html#af260806a5be9aff91007286940fc951d">_end_time</a>;</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="../../df/da0/class_bezier_curve.html#a334167d89217111f1a0a92dc7ea16ea9">   13</a></span>&#160;  <a class="code" href="../../df/da0/class_bezier_curve.html#a334167d89217111f1a0a92dc7ea16ea9">BezierCurve</a>() {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j(0); j &lt; NUM_CTR_PT; ++j) {</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; DIM; ++i) {</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;        _CtrlPt[j][i] = 0.;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;      }</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;      _coeff[j] = 0.;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    }</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  }</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="comment">// ctrl pt 0: initial</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="comment">// ctrl pt n-1(end): final</span></div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="../../df/da0/class_bezier_curve.html#a6b0d1dfab02b83f2a0ddcc998e359eef">   24</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../df/da0/class_bezier_curve.html#a6b0d1dfab02b83f2a0ddcc998e359eef">SetParam</a>(T** ctrl_pt, T fin_time) {</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    _end_time = fin_time;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    T n_fact = <a class="code" href="../../df/da0/class_bezier_curve.html#a09ecb5e8cce832d9b26bc58b37eaed12">_factorial</a>(NUM_CTR_PT - 1);</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j(0); j &lt; NUM_CTR_PT; ++j) {</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; DIM; ++i) {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        _CtrlPt[j][i] = ctrl_pt[j][i];</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      }</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      _coeff[j] = n_fact / (<a class="code" href="../../df/da0/class_bezier_curve.html#a09ecb5e8cce832d9b26bc58b37eaed12">_factorial</a>(j) * <a class="code" href="../../df/da0/class_bezier_curve.html#a09ecb5e8cce832d9b26bc58b37eaed12">_factorial</a>((NUM_CTR_PT - 1) - j));</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    }</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  }</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="../../df/da0/class_bezier_curve.html#a805009db14dd135e46f55d83c7463d69">   36</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../df/da0/class_bezier_curve.html#a805009db14dd135e46f55d83c7463d69">getCurvePoint</a>(T u, T* ret) {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordflow">if</span> (u &gt; _end_time) {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; DIM; ++i) {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        ret[i] = _CtrlPt[NUM_CTR_PT - 1][i];</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      }</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (u &lt; 0.) {</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; DIM; ++i) {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        ret[i] = _CtrlPt[0][i];</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      }</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      u /= <a class="code" href="../../df/da0/class_bezier_curve.html#af260806a5be9aff91007286940fc951d">_end_time</a>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; DIM; ++i) {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        ret[i] = 0.;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j(0); j &lt; NUM_CTR_PT; ++j) {</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;          ret[i] += _coeff[j] * pow(u, j) * pow(1 - u, (NUM_CTR_PT - 1) - j) *</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                    _CtrlPt[j][i];</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        }</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      }</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    }</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  }</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="../../df/da0/class_bezier_curve.html#aec81de7e144ac68128c19f16c24880a6">   60</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../df/da0/class_bezier_curve.html#aec81de7e144ac68128c19f16c24880a6">getCurveVelocity</a>(T u, T* ret) {</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">if</span> (u &gt; _end_time) {</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; DIM; ++i) {</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        ret[i] = 0.;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      }</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (u &lt; 0.) {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; DIM; ++i) {</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        ret[i] = 0.;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      }</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      u /= <a class="code" href="../../df/da0/class_bezier_curve.html#af260806a5be9aff91007286940fc951d">_end_time</a>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; DIM; ++i) {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        ret[i] = 0.;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        ret[i] += _coeff[0] *</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                  (-(NUM_CTR_PT - 1) * pow(1 - u, (NUM_CTR_PT - 1) - 1)) *</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                  _CtrlPt[0][i];</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j(1); j &lt; NUM_CTR_PT - 1; ++j) {</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          ret[i] += _coeff[j] *</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                    (j * pow(u, j - 1) * pow(1 - u, (NUM_CTR_PT - 1) - j) -</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                     (NUM_CTR_PT - 1 - j) * pow(u, j) *</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                         pow(1 - u, (NUM_CTR_PT - 1) - j - 1)) *</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                    _CtrlPt[j][i];</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        }</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        ret[i] += _coeff[NUM_CTR_PT - 1] * (NUM_CTR_PT - 1) *</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                  pow(u, NUM_CTR_PT - 2) * _CtrlPt[NUM_CTR_PT - 1][i];</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        ret[i] /= <a class="code" href="../../df/da0/class_bezier_curve.html#af260806a5be9aff91007286940fc951d">_end_time</a>;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      }</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    }</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  }</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="../../df/da0/class_bezier_curve.html#a09ecb5e8cce832d9b26bc58b37eaed12">   95</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="../../df/da0/class_bezier_curve.html#a09ecb5e8cce832d9b26bc58b37eaed12">_factorial</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; n) {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordtype">int</span> ret = 1;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(1); i &lt; n + 1; ++i) ret *= (i);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  }</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;};</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="class_bezier_curve_html"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html">BezierCurve</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00008">BezierCurve.h:8</a></div></div>
<div class="ttc" id="class_bezier_curve_html_a6b0d1dfab02b83f2a0ddcc998e359eef"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html#a6b0d1dfab02b83f2a0ddcc998e359eef">BezierCurve::SetParam</a></div><div class="ttdeci">bool SetParam(T **ctrl_pt, T fin_time)</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00024">BezierCurve.h:24</a></div></div>
<div class="ttc" id="class_bezier_curve_html_a805009db14dd135e46f55d83c7463d69"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html#a805009db14dd135e46f55d83c7463d69">BezierCurve::getCurvePoint</a></div><div class="ttdeci">bool getCurvePoint(T u, T *ret)</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00036">BezierCurve.h:36</a></div></div>
<div class="ttc" id="class_bezier_curve_html_a724f444a65d87f2b4a475c44a2eedf02"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html#a724f444a65d87f2b4a475c44a2eedf02">BezierCurve::_CtrlPt</a></div><div class="ttdeci">T _CtrlPt[NUM_CTR_PT][DIM]</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00010">BezierCurve.h:10</a></div></div>
<div class="ttc" id="class_bezier_curve_html_adeb66b287ab1251b35c4836a73024e50"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html#adeb66b287ab1251b35c4836a73024e50">BezierCurve::_coeff</a></div><div class="ttdeci">T _coeff[NUM_CTR_PT]</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00011">BezierCurve.h:11</a></div></div>
<div class="ttc" id="class_bezier_curve_html_af260806a5be9aff91007286940fc951d"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html#af260806a5be9aff91007286940fc951d">BezierCurve::_end_time</a></div><div class="ttdeci">T _end_time</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00012">BezierCurve.h:12</a></div></div>
<div class="ttc" id="class_bezier_curve_html_a334167d89217111f1a0a92dc7ea16ea9"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html#a334167d89217111f1a0a92dc7ea16ea9">BezierCurve::BezierCurve</a></div><div class="ttdeci">BezierCurve()</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00013">BezierCurve.h:13</a></div></div>
<div class="ttc" id="class_bezier_curve_html_aec81de7e144ac68128c19f16c24880a6"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html#aec81de7e144ac68128c19f16c24880a6">BezierCurve::getCurveVelocity</a></div><div class="ttdeci">bool getCurveVelocity(T u, T *ret)</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00060">BezierCurve.h:60</a></div></div>
<div class="ttc" id="class_bezier_curve_html_a09ecb5e8cce832d9b26bc58b37eaed12"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html#a09ecb5e8cce832d9b26bc58b37eaed12">BezierCurve::_factorial</a></div><div class="ttdeci">int _factorial(const int &amp;n)</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00095">BezierCurve.h:95</a></div></div>
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